A servo motor and robot

Abstract

The application relates to a servo motor and a robot, a shell, a stator fixed on the inner wall surface of the shell, the stator comprising a stator winding, the stator winding being provided with a power line connector, a rotor arranged in the stator, the rear end of the rotor being provided with an encoder, the encoder being covered with a shielding cover, the shielding cover being covered with a protective cover, the protective cover being axially connected with the shell, the protective cover being provided with a power socket mounting position, a power socket arranged on the power socket mounting position, the power socket being provided with a connecting terminal at one end facing the inside of the protective cover, a power line being connected between the power line connector of the stator winding and the connecting terminal of the power socket, a wiring channel being formed in the inside of the shell and the inside of the protective cover, the power line and a grounding wire being arranged in the wiring channel, and the servo motor is reduced in the wire outlet height.

Description

Technical Field

[0001] This invention relates to electric motors, and more particularly to a servo motor and a robot. Background Technology

[0002] Servo motors are widely used in robots, machine tools, and non-standard automation equipment due to their high power density, high positioning accuracy, and low speed fluctuations. However, the power cables of existing servo motors are routed out from the nearest point on the periphery of the motor, with the motor's own socket mounted on the middle housing. When used with a plug, the cable exit position is too high, making it difficult to use servo motors in confined spaces and prone to interference with other components. This limits the miniaturization of automated equipment. Furthermore, placing the power cable exit on the middle housing also reduces the heat exchange area of ​​the middle housing itself.

[0003] Patent CN 207977821 U discloses a servo motor cable exit structure. Although the structure is simple, the cable still exits from the middle housing position, and the cable exit height has not been substantially changed.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] To reduce the cable height of servo motors and make them more suitable for miniaturized and micro-sized automated equipment, a servo motor and robot are proposed.

[0006] On one hand, the present invention provides a servo motor, comprising:

[0007] case;

[0008] The stator is fixed to the inner wall of the housing and includes a stator winding, which forms a power line terminal.

[0009] The rotor is disposed within the stator, and an encoder is disposed at the rear end of the rotor. The encoder is covered by a shield, and the shield is covered by a protective cover. The protective cover is axially connected to the housing, and a power socket mounting position is provided on the protective cover.

[0010] A power socket, wherein the power socket is disposed at the power socket mounting position, and the power socket has a wiring terminal at one end facing the inside of the protective cover;

[0011] A power cord is connected between the power cord connector of the stator winding and the terminal block of the power socket.

[0012] A wiring channel is formed inside the housing and the protective cover, and the power line and grounding line are laid in the wiring channel.

[0013] Preferably, the protective cover includes a second side wall surrounding the shield and a second bottom wall opposite to the rotor axis, and the power socket mounting position is disposed on the second bottom wall of the protective cover.

[0014] Preferably, the housing includes an intermediate housing, a front cover disposed at the front end of the intermediate housing, and a rear cover disposed at the rear end of the intermediate housing; the stator is fixed to the inner wall surface of the intermediate housing.

[0015] The rear end cover includes a first sidewall extending axially along the rotor and a first bottom wall extending radially along the rotor, and the protective cover is connected to the first bottom wall of the rear end cover;

[0016] The inner cavity of the intermediate shell has a fifth wiring channel, and the inner cavity of the rear cover has a sixth wiring channel.

[0017] The first sidewall has a through hole near the intermediate housing that connects the fifth wiring channel and the sixth wiring channel, and the through hole forms a fourth wiring channel;

[0018] The wiring channels include the fifth wiring channel, the fourth wiring channel, and the sixth wiring channel connected in sequence.

[0019] Preferably, the encoder is connected to the rotor via a coupling, the coupling is covered with a coupling end cover, the housing includes the coupling end cover, the front end of the coupling end cover is connected to the rear end of the rear end cover, the rear end of the coupling end cover is connected to the front end of the protective cover, the cavity formed between the coupling end cover, the rear end cover and the shielding cover forms a third wiring channel, and the cavity between the coupling end cover and the protective cover forms a seventh wiring channel;

[0020] A first wiring channel is formed on the first bottom wall of the rear end cover, and the first wiring channel connects the sixth wiring channel and the seventh wiring channel;

[0021] The coupling end cover has a wire-passing hole, which forms a second wire-passing channel corresponding to the first wire-passing channel. The second wire-passing channel connects the seventh wire-passing channel and the third wire-passing channel.

[0022] The routing channels include the fifth routing channel, the fourth routing channel, the sixth routing channel, the first routing channel, the seventh routing channel, the second routing channel, and the third routing channel, which are connected in sequence.

[0023] Preferably, a wire fixing structure is provided on the fourth wiring channel, and the wire fixing structure is located at one end of the fourth wiring channel near the stator; the wire fixing structure can fix the power lines in the fourth wiring channel.

[0024] Preferably, a stop bar is provided at one end of the fourth wiring channel near the housing, and the stop bar and the fourth wiring channel form a cable bundling hole. When the power cable passes through the cable bundling hole, the power cable is fixed in the fourth wiring channel.

[0025] Preferably, an encoder socket is provided on the second side wall of the protective cover, and an encoder cable outlet hole is opened on the side wall of the shielding cover; the cavity between the second side wall and the side wall of the shielding cover forms an eighth wiring channel, one end of the encoder cable connected to the encoder is connected to the encoder, and the other end passes through the encoder cable outlet hole and the eighth wiring channel in sequence and is connected to the encoder socket.

[0026] Preferably, the servo motor is provided with a grounding wire, one end of which is connected to the power socket and the other end is connected to the housing.

[0027] Preferably, a grounding screw is provided on the side wall of the rear end cover facing the inside of the servo motor. One end of the grounding wire is connected to the grounding screw, and the other end passes through the sixth wiring channel, the first wiring channel, the seventh wiring channel, the second wiring channel and the third wiring channel in sequence and is connected to the power socket.

[0028] On the other hand, the present invention also provides a robot, including the aforementioned servo motor.

[0029] This invention leads the power cable of the servo motor from the stator to the rear end of the servo motor and places the voltage socket on the bottom wall of the protective cover, thereby reducing the height of the servo motor in the circumferential direction, improving the applicability of the servo motor, and making it easier to apply the servo motor to miniature automated equipment. Attached Figure Description

[0030] Figure 1 This is a cross-sectional view of the servo motor according to an embodiment of the present invention;

[0031] Figure 2 This is a schematic cross-sectional view of a servo motor equipped with a power cord and a ground wire according to an embodiment of the present invention.

[0032] Figure 3 This is a schematic diagram of the wiring channel according to an embodiment of the present invention;

[0033] Figure 4 This is a sectional oblique view of the rear cover according to an embodiment of the present invention;

[0034] Figure 5This is a side sectional view of the rear cover according to an embodiment of the present invention;

[0035] Figure 6 This is a sectional perspective view of the coupling end cover according to an embodiment of the present invention;

[0036] Figure 7 This is a side sectional view of the coupling end cover according to an embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of the shielding cover structure according to an embodiment of the present invention;

[0038] Figure 9 This is a schematic diagram of the shielding cover and protective cover forming a third wiring channel according to an embodiment of the present invention;

[0039] Figure 10 This is a schematic diagram of the protective cover structure according to an embodiment of the present invention;

[0040] Figure 11 This is an exploded view of an embodiment of the present invention.

[0041] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention.

[0042] In the attached drawings: 1-Intermediate housing; 2-Rear end cover; 3-Stator; 4-Rotor; 5-Coupling end cover; 6-Shielding cover; 7-Protective cover; 8-Power socket; 701-Second side wall; 702-Second bottom wall; 201-First side wall; 202-First bottom wall; 203-First wiring channel; 204-Fourth wiring channel; 205-Fixing structure; 603-Third wiring channel; 503-Second wiring channel; 101-Fifth wiring channel; 206-Sixth wiring channel; 207-Seventh wiring channel; 703-Eighth wiring channel; 9-Power cable; 10-Ground wire. Detailed Implementation

[0043] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0044] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence; "front end" and "back end" are relative. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0045] This invention relates to electric motors, and more particularly to a servo motor.

[0046] Servo motors are widely used in robots, machine tools, and non-standard automation equipment due to their high power density, high positioning accuracy, and low speed fluctuations. However, existing servo motors use a localized power cable exit method, with the power cable directly leading out from the servo motor's perimeter. The servo motor's socket is mounted on the middle housing. When used with a plug, the cable exit position is too high, making it difficult to use servo motors in confined spaces and prone to interference with other components, thus limiting the miniaturization of automated equipment. Furthermore, placing the power cable exit on the middle housing reduces the heat exchange area of ​​the housing itself. Therefore, a new type of servo motor is proposed.

[0047] like Figure 1-11 As shown, a servo motor includes: a housing; a stator 3, fixed to the inner wall of the housing, the stator 3 including stator windings, the stator windings forming power line terminals 9; a rotor 4, disposed within the stator 3, an encoder disposed at the rear end of the rotor 4, the encoder being covered by a shielding cover 6, the shielding cover 6 being covered by a protective cover 7, the protective cover 7 being axially connected to the housing, the protective cover 7 having a power socket 8 mounting position; and a power socket 8, disposed at the voltage socket mounting position, the power socket 8 having one end facing inwards from the protective cover 7. It is equipped with wiring terminals; the power line 9 of the stator 3 winding is connected to the wiring terminals of the power socket 8; a wiring channel is formed inside the housing and the protective cover 7, and the power line 9 is laid in the wiring channel; compared with the prior art, the power line 9 is led out from the protective cover 7. Since the circumferential dimension of the protective cover 7 is smaller than that of the housing in the circumferential direction; since the socket is not set on the housing, the circumferential dimension of the housing is reduced, and the wiring height is reduced; this is conducive to expanding the application scenarios of servo motors and to the miniaturization of automation equipment.

[0048] Preferred, such as Figure 1 , Figure 2 and Figure 10As shown, the protective cover 7 includes a second side wall 701 surrounding the shield 6 and a second bottom wall 702 axially opposite to the rotor 4. A power socket 8 is disposed on the second bottom wall 702 of the protective cover 7. The placement of the power socket 8 on the second bottom wall 702 further reduces the height of the power cord 9 and avoids interference between the power cord 9 and other structures in the circumferential direction. The term "second" in "second side wall 701" and "second bottom wall 702" is used only to distinguish them from other side walls and the bottom wall.

[0049] Preferred, such as Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 9 As shown, the housing includes an intermediate housing 1, a front cover disposed at the front end of the intermediate housing 1, and a rear cover 2 disposed at the rear end of the intermediate housing 1; the stator 3 is fixed to the inner wall of the intermediate housing 1; the rear cover 2 includes a first side wall 201 extending axially along the rotor 4 and a first bottom wall 202 extending radially along the rotor 4, and the protective cover 7 is connected to the first bottom wall 202 of the rear cover 2; a fifth wiring channel 101 is formed in the inner cavity of the intermediate housing 1, and a sixth wiring channel 206 is formed in the inner cavity of the rear cover 2; the wiring channels include the fifth wiring channel 101 and the sixth wiring channel 206 that are connected; the wiring channels are disposed inside the housing, and through holes are opened in the existing structure to form wiring channels, avoiding the safety hazards caused by laying the power cord 9 on the outside, and ensuring stability during operation.

[0050] Preferred, such as Figure 1-2 As shown, a fourth wiring channel 204 is formed on the inner wall surface of the first sidewall 201 near the middle housing 1. One end of the fourth wiring channel 204 is connected to the fifth wiring channel 101, and the other end is connected to the sixth wiring channel 206. The wiring channels include the fifth wiring channel 101, the fourth wiring channel 204, and the sixth wiring channel 206 connected in sequence. When the servo motor is equipped with a brake or inertia wheel, the power cable 9 is laid in the fourth wiring channel 204 to prevent the power cable 9 from contacting the brake or inertia wheel and getting heated, which would cause the power cable 9 to age too quickly, and to prevent the rotation of the inertia wheel from damaging the power cable 9.

[0051] Preferred, such as Figure 1-2As shown, the encoder is connected to the rotor 4 via a coupling. The coupling is covered by a coupling end cover 5. The housing includes the coupling end cover 5. The front end of the coupling end cover 5 is connected to the rear end of the rear end cover 2, and the rear end of the coupling end cover 5 is connected to the front end of the protective cover 7. The cavity formed between the coupling end cover 5, the rear end cover 2, and the shield 6 forms a third wiring channel 603. The cavity between the coupling end cover 5 and the rear end cover 2 forms a seventh wiring channel 207. A first wiring channel 203 is formed on the first bottom wall 202 of the rear end cover 2. 203 connects the sixth wiring channel 206 and the seventh wiring channel 207; a wire-passing hole is formed on the coupling end cover, which constitutes the second wiring channel 503 corresponding to the first wiring channel 203. The second wiring channel 503 connects the seventh wiring channel 207 and the third wiring channel 603. The wiring channels include the fifth wiring channel 101, the fourth wiring channel 204, the sixth wiring channel 206, the first wiring channel 203, the seventh wiring channel 207, the second wiring channel 503, and the third wiring channel 603, which are connected in sequence. The power supply line 9 runs from the stator 3 winding to the voltage socket, and is entirely located inside the servo motor. It is separated from the encoder by the shielding cover 6. The electromagnetic field generated by the power supply line 9 will not affect the encoder, ensuring the stability and accuracy of the servo motor operation.

[0052] Preferred, such as Figure 4 As shown, a wire fixing structure 205 is provided on the fourth wiring channel 204, located at the end of the fourth wiring channel 204 near the stator 3. The wire fixing structure 205 can fix the power line 9 within the fourth wiring channel 204. A stop bar is provided at the end of the fourth wiring channel 204 near the housing, forming a cable bundling hole with the fourth wiring channel 204. When the power line 9 passes through the cable bundling hole, the power line 9 is fixed within the notch. When there is no brake in the servo motor, the power line 9 is fixed within the fourth wiring channel 204 by the wire fixing structure 205, preventing the power line 9 from swinging within the servo motor. When an inertia wheel is provided, the wire fixing structure 205 prevents the power line 9 from contacting the inertia wheel.

[0053] Preferably, an encoder socket is provided on the second side wall 701 of the protective cover 7, and an encoder cable outlet hole is opened on the side wall of the shield 6; the cavity between the second side wall 701 and the side wall of the shield 6 forms an eighth wiring channel 703, one end of the encoder cable connected to the encoder is connected to the encoder, and the other end passes through the encoder cable outlet hole and the eighth wiring channel 703 in sequence to connect to the encoder socket; the encoder socket is located on the second side wall 701 to avoid confusion between the encoder socket and the power socket 8, and also to keep the encoder socket far away from the power socket 8, so as to avoid electromagnetic interference to the encoder socket when the power socket 8 is powered on.

[0054] Preferably, the servo motor is provided with a grounding wire 10, one end of which is connected to the power socket 8 and the other end is connected to the housing;

[0055] Preferred, such as Figure 1-2 As shown, a grounding screw is provided on the side wall of the rear cover 2 facing the inside of the servo motor. One end of the grounding wire 10 is connected to the grounding screw, and the other end passes through the sixth wiring channel 206, the first wiring channel 203, the seventh wiring channel 207, the second wiring channel 503 and the third wiring channel 603 in sequence and is connected to the power socket 8. The grounding wire 10 is set inside the servo motor, which ensures that the grounding wire 10 is firmly fixed and prevents it from falling off during use; this further ensures the safety of use.

[0056] When installing the shielding cover 6, the shielding cover 6 can be fixed to the coupling end cover 5 with bolts.

[0057] The present invention also provides a robot including the aforementioned servo motor; due to the reduced height of the servo motor, the robot using the servo motor is smaller in size and can adapt to more locations, especially small and micro locations.

[0058] When installing the power cord 9, the first end of the power cord 9 is first connected to the stator 3, then passes through the fifth wiring channel 101, and then through the fourth wiring channel 204. The wire fixing structure 205 fixes the power cord 9 in the fourth wiring channel 204. At this time, if a brake is installed, it is installed. Then, after the power cord 9 exits the fourth wiring channel 204, it passes through the sixth wiring channel 206, the first wiring channel 203, the seventh wiring channel 207, the second wiring channel 503, and the third wiring channel 603 in sequence. The second end of the power cord 9 is soldered to the power socket 8 on the protective cover 7. Each connection of the power cord is insulated to prevent leakage. Each section of the wiring channel is rounded and has a certain amount of slack to prevent the power cord 9 from being scratched by sharp corners or edges.

[0059] When installing ground wire 10, the first end of ground wire 10 is fixed to the rear end cover 2 with a grounding screw, and the second end passes through the sixth wiring channel 206, the first wiring channel 203, the seventh wiring channel 207, the second wiring channel 503, and the third wiring channel 603 in sequence and is connected to the power socket 8. The power wire 9 can be connected to the power socket 8 by soldering. When a brake is installed, the ground wire needs to be locked to the rear end cover 2 and pass through the rear end cover 2 before installing the brake. The three-phase servo motor requires three power wires 9. The three power wires 9 can be routed through the same wiring channel or through different wiring channels. The ground wire 10 is routed separately from the power wires 9. Due to the fixed wiring structure 205, when the servo motor is equipped with an inertia disk and the inertia disk is located at the rear, the inertia disk will not interfere with the power wires 9.

[0060] When installing the encoder cable, the first end of the encoder cable is connected to the encoder, and the second end of the encoder cable passes through the encoder cable outlet hole and then through the eighth wiring channel 703 to connect to the encoder socket. The connection can be made by soldering.

[0061] The present invention has the following significant advantages:

[0062] 1. This invention places the power socket on the protective cover and sets up a wiring channel inside the servo motor to lead the power cord to the power socket on the protective cover. This reduces the circumferential size of the servo motor and the height of the power cord, which is beneficial for the application of the servo motor in micro and small devices and expands the application range of the servo motor.

[0063] 2. This invention separates the power cord from the encoder by using a shielding cover, which avoids interference from the magnetic field generated by the power cord when it is powered on, thereby improving the accuracy of the servo motor.

[0064] 3. This invention places the ground wire inside the servo motor, which avoids accidental ground wire detachment, improves the safety of the ground wire, and further enhances the safety of the servo motor.

[0065] Exemplary embodiments of this disclosure have been specifically shown and described above. It should be understood that this disclosure is not limited to the detailed structures, arrangements, or implementations described herein; rather, this disclosure is intended to cover various modifications and equivalent arrangements contained within the spirit and scope of the appended claims.

Claims

1. A servo motor, characterized in that, include: case; The stator is fixed to the inner wall of the housing, and the stator includes a stator winding, which forms a power line terminal. The rotor is disposed within the stator. An encoder is disposed at the rear end of the rotor. The encoder is covered by a shield. The shield is covered by a protective cover. The protective cover is axially connected to the housing. The protective cover is provided with a power socket mounting position. The protective cover includes a second side wall surrounding the shield and a second bottom wall opposite to the rotor axis. The power socket mounting position is disposed on the second bottom wall of the protective cover. A power socket, wherein the power socket is disposed at the power socket mounting position, and the power socket has a wiring terminal at one end facing the inside of the protective cover; A power cord is connected between the power cord connector of the stator winding and the terminal block of the power socket. A wiring channel is formed inside the housing and inside the protective cover, and the power line and grounding line are laid in the wiring channel; wherein, the housing includes an intermediate housing, a front cover disposed at the front end of the intermediate housing, and a rear cover disposed at the rear end of the intermediate housing; the stator is fixed to the inner wall surface of the intermediate housing. The rear end cover includes a first sidewall extending axially along the rotor and a first bottom wall extending radially along the rotor, and the protective cover is connected to the first bottom wall of the rear end cover; The inner cavity of the intermediate shell has a fifth wiring channel, and the inner cavity of the rear cover has a sixth wiring channel. The first sidewall has a through hole near the intermediate housing that connects the fifth and sixth wiring channels, and the through hole forms a fourth wiring channel; The wiring channels include a fifth wiring channel, a fourth wiring channel, and a sixth wiring channel connected in sequence; A wire fixing structure is provided on the fourth wiring channel, and the wire fixing structure is located at one end of the fourth wiring channel near the stator; the wire fixing structure can fix the power lines in the fourth wiring channel. A stop bar is provided at one end of the fourth wiring channel near the housing. The stop bar and the fourth wiring channel form a cable bundling hole. When the power cable passes through the cable bundling hole, the power cable is fixed inside the fourth wiring channel.

2. The servo motor according to claim 1, characterized in that, The encoder is connected to the rotor via a coupling. The coupling is covered with a coupling end cover. The housing includes the coupling end cover. The front end of the coupling end cover is connected to the rear end of the rear end cover. The rear end of the coupling end cover is connected to the front end of the protective cover. The cavity formed between the coupling end cover, the rear end cover, and the shielding cover forms a third wiring channel. The cavity between the coupling end cover and the protective cover forms a seventh wiring channel. A first wiring channel is formed on the first bottom wall of the rear end cover, and the first wiring channel connects the sixth wiring channel and the seventh wiring channel; The coupling end cover has a wire-passing hole, which forms a second wire-passing channel corresponding to the first wire-passing channel. The second wire-passing channel connects the seventh wire-passing channel and the third wire-passing channel. The routing channels include the fifth routing channel, the fourth routing channel, the sixth routing channel, the first routing channel, the seventh routing channel, the second routing channel, and the third routing channel, which are connected in sequence.

3. The servo motor according to claim 1, characterized in that, An encoder socket is provided on the second side wall of the protective cover, and an encoder output hole is opened on the side wall of the shielding cover; the cavity between the second side wall and the side wall of the shielding cover forms an eighth wiring channel, one end of the encoder wire connected to the encoder is connected to the encoder, and the other end passes through the encoder output hole and the eighth wiring channel in sequence and is connected to the encoder socket.

4. The servo motor according to any one of claims 1-3, characterized in that, The servo motor is equipped with a grounding wire, one end of which is connected to the power socket and the other end is connected to the housing.

5. The servo motor according to claim 2, characterized in that, A grounding screw is provided on the side wall of the rear end cover facing the inside of the servo motor. One end of the grounding wire is connected to the grounding screw, and the other end passes through the sixth wiring channel, the first wiring channel, the seventh wiring channel, the second wiring channel and the third wiring channel in sequence and is connected to the power socket.

6. A robot, characterized in that, Includes the servo motor described in any one of claims 1-5.

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